Abstract
This paper presents a passivity-based control for the DC/DC Buck-Boost converter-inverter-DC motor system. Such control exploits the energy structure associated with the system error dynamics. This in order to solve the trajectory tracking task for both the converter voltage and motor bidirectional angular velocity, without using electromechanical sensors. The successful experimental validation of the proposed control is performed in a built prototype of the system, using Matlab-Simulink and a DS1104 board.
I. INTRODUCTION
Applications that have been profited from using electronic power converters can be found in mechanisms [1], robotics [2], [3], electric cars [4], and airplanes [5], among others. In such applications, in general, their correct operation involves high precision movements. These movements are accomplished through the connection of power electronics converters and motors both commanded with control strategies.
VI. CONCLUSIONS
A passivity-based tracking control, whose experimental implementation only requires electrical measurements, for the DC/DC Buck-Boost converter–inverter–DC motor system was herein presented. This control system allows the driving of bidirectional angular velocities.
The proposed control based on the ETEDPOF was experimentally implemented using Matlab-Simulink and the DS1104 board in a built prototype, achieving satisfactory results in voltage and angular velocity tracking.
Motivated by the experimental results, particularly those in Fig. 8, the design of robust controls as well as an application in mobile robotics (see [2], [3], and [33]) are considered as future work.
